jetson-containers/Dockerfile.ros.melodic.px4 at master · SystemTrio-Robotics/jetson-containers · GitHub

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#
# this dockerfile roughly follows the 'Ubuntu install of ROS Melodic' from:
#   http://wiki.ros.org/melodic/Installation/Ubuntu
#
ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.4.4
FROM ${BASE_IMAGE}

ARG ROS_PKG=ros_base
ENV ROS_DISTRO=melodic
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
ENV CONTAINER_USER=xaviernx

ENV DEBIAN_FRONTEND=noninteractive

#WORKDIR /workspace

# add the ROS deb repo to the apt sources list
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
        git \
		gedit \
		cmake \
		build-essential \
		curl \
		wget \
		gnupg2 \
		lsb-release \
		net-tools \
		iputils-ping \
		nano \
    &&  rm -rf /var/lib/apt/lists/*

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# install ROS packages
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
		ros-melodic-ros-base \
		ros-melodic-image-transport \
		ros-melodic-vision-msgs \
        python-rosdep \
        python-rosinstall \
        python-rosinstall-generator \
        python-wstool \
        python-catkin-tools \
        python-rosinstall-generator \
    && rm -rf /var/lib/apt/lists/*


# Add MAVLink and mavros
RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
		geographiclib-tools \
		libeigen3-dev \
		libgeographic-dev \
		libyaml-cpp-dev \
		python-pip \
		python-tk \
		ros-$ROS_DISTRO-mav-msgs \
		ros-$ROS_DISTRO-mavlink \
		ros-$ROS_DISTRO-mavros \
		ros-$ROS_DISTRO-mavros-extras \
	&& geographiclib-get-geoids egm96-5 \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean

# Add xaviernx user
RUN useradd --shell /bin/bash -u 1000 -c "" -m $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER && echo "$CONTAINER_USER:$CONTAINER_USER" | chpasswd && adduser $CONTAINER_USER sudo

RUN echo "source /opt/ros/melodic/setup.bash" >> /home/$CONTAINER_USER/.bashrc

RUN rosdep init && su -c "rosdep update -c /home/$CONTAINER_USER/.ros/rosdep/sources.cache" - $CONTAINER_USER
RUN echo "source /opt/ros/melodic/setup.bash" >> /home/$CONTAINER_USER/.bashrc

# Add user to dialout group
RUN usermod -aG dialout $CONTAINER_USER
RUN usermod -aG tty $CONTAINER_USER

# Switch user
USER $CONTAINER_USER

# Create src folder inside the HOME folder
# This is to host non-ROS packages to install from source
RUN cd /home/$CONTAINER_USER && mkdir src

# Create ROS catkin_ws to host ROS packages
RUN mkdir -p /home/$CONTAINER_USER/catkin_ws/src \
    && cd /home/$CONTAINER_USER/catkin_ws \
    && catkin init \
    && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release \
    && catkin config --merge-devel \
    && catkin config --extend /opt/ros/$ROS_DISTRO \
    && catkin build

# Setup entrypoint
COPY ./packages/ros_entrypoint.sh /ros_entrypoint.sh
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
WORKDIR /home/$CONTAINER_USER